#ifndef __IMU_TASK_H
#define __IMU_TASK_H

#include "main.h"
#include "tim.h"
#include "QuaternionEKF.h"

typedef struct
{
	float gyro_correct[3];
	float gyro[3];
	float accel[3];
	float temp;
	
	float q[4];

	float pitch;
	float roll;
	float yaw;
}IMU_Data_t;

void Imu_Init(void);
void INS_Task(IMU_Data_t *IMU1);

extern IMU_Data_t IMU_Data1;

#endif
